Hello,

We have developed in-house drivers for EPOS/ELMO controllers, which are 
based on the CanOpen/CiA DSP 402 protocol.

These drivers are written in C, and we are currently in the process of 
re-factoring these libraries in C++, with the goal of doing a clean ROS 
driver afterwards. Initially, the library [1] will contain 
implementations of subsets of both CanOpen and CiA DSP 402, with quirks 
for EPOS and ELMO. On the longer run, we will probably split the CanOpen 
part into another library and add more complete CiA DSP 402 support, 
including PDO.

I guess that this might be of interest for the ROS user community. We 
are commited to an open-development model and so contributions are very 
welcome.

Kind regards,

Stéphane

[1] https://github.com/ethz-asl/libcia-dsp-402

-- 
Dr Stéphane Magnenat
http://stephane.magnenat.net